#pragma once

#include "cartographer/rcm/particle_filter/common.h"

namespace cartographer
{
    class Map2d
    {
    public:
        using Ptr = std::shared_ptr<Map2d>;

        Map2d()
        {
        }

        int Read(const std::string &filename);

        const Pose::Ptr SearchNearPose(const Pose::Ptr &pose);

    private:
        std::vector<Landmark::Ptr> landmarks_;
    };
} // namespace cartographer